Faculty Advisor

Ciaraldi, Michael J.

Faculty Advisor

Michalson, William R.

Faculty Advisor

Nestinger, Stephen

Faculty Advisor

Padir, Taskin

Faculty Advisor

Stafford, Kenneth A.

Abstract

This project focuses on designing and building an unmanned ground vehicle (UGV) which will become WPI's first entry to the IGVC in June 2010. The vehicle power train consists of sealed lead acid batteries, bi-directional DC motor and chain sprocket sets. The software approach employs a stereo image processing implemented on NVIDIA's GPU. The image processing algorithms include segmentation using neural networks, rectification and pixel disparity calculation for line and obstacle distance detection. The sensor fusion technique processed on a National Instruments cRIO controller incorporates data from a LIDAR, differential GPS receiver, wheel encoders, and a compass. The path planning is implemented based on Driving with Tentacles approach.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2010

Major

Mechanical Engineering

Major

Electrical and Computer Engineering

Major

Robotics Engineering

Major

Computer Science

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

Advisor Department

Electrical and Computer Engineering

Advisor Department

Mechanical Engineering

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